Crossfire is capable of scoring in the tower from many locations on the field. Onboard vision processing software calculates the angle and distance between the robot and the goal. A Kangaroo Computer running Windows 10 processes images in Roborealm and returns data to the roboRIO via NetworkTables.

A 9-axis IMU is used to align the robot with the goal while the shooter is lifted to the correct angle with an encoder-fed PID loop. The flywheels are then accelerated to the correct speeds using encoders and a PID loop accurate to ± 5 rpm. A bump switch detects when the boulder has left the shooter.

​This automated sequence is used in autonomous and tele-op and allows the driver to accurately score a high goal in seconds.

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Anti Collision Software

​Custom software was created to prevent the shooter and intake from colliding during a match. These two mechanisms have intersecting ranges of motion and must be protected from each other. Encoder-fed PID loops detect the positions of both mechanisms and, if necessary, will stop the shooter from raising and lowering so the intake can be temporarily moved out of the way. The entire process takes less than a second and is very reliable.